Stability analysis of a feedback linearizing control strategy for constrained nonlinear systems

Author

Kurtz, Michael J. ; Henson, Michael A.

Author_Institution

Dept. of Chem. Eng., Louisiana State Univ., Baton Rouge, LA, USA

Volume

5

fYear

1997

fDate

4-6 Jun 1997

Firstpage

3480

Abstract

A feedback linearizing control strategy for discrete-time nonlinear systems subject to input constraints is analyzed. The control system comprises (i) a feedback linearizing controller; (ii) a constraint mapping algorithm that transforms the actual input constraints into constraints on the feedback linearized system; and (iii) a model predictive controller which regulates the resulting constrained linear system. Stability analysis is a challenging problem because the transformed constraints are state dependent. Sufficient conditions for asymptotic stability are presented for fully and partially feedback linearizable systems. As part of the analysis, a new stability result for unconstrained discrete-time nonlinear systems which parallels a well known continuous-time result is derived

Keywords

asymptotic stability; control system analysis; discrete time systems; feedback; linearisation techniques; nonlinear control systems; predictive control; constrained linear system; constrained nonlinear systems; constraint mapping algorithm; feedback linearizing control strategy; input constraints; model predictive controller; stability analysis; sufficient conditions; unconstrained discrete-time nonlinear systems; Control system synthesis; Control systems; Discrete transforms; Linear feedback control systems; Linear systems; Nonlinear control systems; Nonlinear systems; Predictive models; Stability analysis; Sufficient conditions;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1997. Proceedings of the 1997

Conference_Location

Albuquerque, NM

ISSN

0743-1619

Print_ISBN

0-7803-3832-4

Type

conf

DOI

10.1109/ACC.1997.612115

Filename

612115